CpiV2.h

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#ifndef CPI_V2_H
#define CPI_V2_H
 
/*
 * MIT License
 * Copyright (c) 2018 Kevin Eckenhoff
 * Copyright (c) 2018 Patrick Geneva
 * Copyright (c) 2018 Guoquan Huang
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
 
#include "CpiBase.h"
 
#include <Eigen/Dense>
 
namespace ov_core {
 
class CpiV2 : public CpiBase {
 
private:
  // Extended covariance used to handle the sampling model
  Eigen::Matrix<double, 21, 21> P_big = Eigen::Matrix<double, 21, 21>::Zero();
 
  // Our large compounded state transition Jacobian matrix
  Eigen::Matrix<double, 21, 21> Discrete_J_b = Eigen::Matrix<double, 21, 21>::Identity();
 
public:
  bool state_transition_jacobians = true;
 
  // Alpha and beta Jacobians wrt linearization orientation
  Eigen::Matrix<double, 3, 3> O_a = Eigen::Matrix<double, 3, 3>::Zero();
  Eigen::Matrix<double, 3, 3> O_b = Eigen::Matrix<double, 3, 3>::Zero();
 
  CpiV2(double sigma_w, double sigma_wb, double sigma_a, double sigma_ab, bool imu_avg_ = false)
      : CpiBase(sigma_w, sigma_wb, sigma_a, sigma_ab, imu_avg_) {}
 
  virtual ~CpiV2() {}
 
  void feed_IMU(double t_0, double t_1, Eigen::Matrix<double, 3, 1> w_m_0, Eigen::Matrix<double, 3, 1> a_m_0,
                Eigen::Matrix<double, 3, 1> w_m_1 = Eigen::Matrix<double, 3, 1>::Zero(),
                Eigen::Matrix<double, 3, 1> a_m_1 = Eigen::Matrix<double, 3, 1>::Zero());
};
 
} // namespace ov_core
 
#endif /* CPI_V2_H */